Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM

Amir Monjazeb, Jurek Z. Sasiadek, Dan Necsulescu

2013

Abstract

This paper addresses the linearization process of an autonomous mobile robot utilizing the second order Sterling polynomial interpolation specifically used for Unscented HybridSLAM algorithm. It describes the implementation of the linearization method to estimate the posterior mean and covariance of the system. The major interest is to apply linearized equations for a simultaneous localization and mapping case in a non-domestic environment with a random distribution of landmarks. Using computer simulations, Unscented HybridSLAM and the associated theoretical interpolation is examined for a double-loop scenario and the efficacy of the Unscented HybridSLAM is validated.

Paper Citation

in Harvard Style

Monjazeb A., Z. Sasiadek J. and Necsulescu D. (2013). Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 66-73. DOI: 10.5220/0004452700660073

in Bibtex Style

@conference{icinco13,
author={Amir Monjazeb and Jurek Z. Sasiadek and Dan Necsulescu},
title={Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={66-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004452700660073},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM
SN - 978-989-8565-71-6
AU - Monjazeb A.
AU - Z. Sasiadek J.
AU - Necsulescu D.
PY - 2013
SP - 66
EP - 73
DO - 10.5220/0004452700660073